Title :
Human control characteristics in bilateral micro-teleoperation system
Author :
Murakami, E.A.Y. ; Shibata, Katsunari ; Zheng, Xin-Zhi ; Ito, Koji
Author_Institution :
Tokyo Inst. of Technol., Yokohama, Japan
Abstract :
The micromanipulator is an indispensable device used to assist high precision tasks required in microsurgery and microassembly. However, in order to manipulate micro objects it is inevitable to consider the scaling effect problem between worlds with different physical characteristics. Some scaling methods have been proposed, but how they influence human operator performance is still a remaining problem. In this paper, the performance of the human operator is analyzed based on his/her dynamic characteristics
Keywords :
force control; force feedback; man-machine systems; micromanipulators; position control; telerobotics; bilateral micro-teleoperation system; high precision tasks; human control characteristics; indispensable device; micro objects; microassembly; micromanipulator; microsurgery; physical characteristics; scaling effect problem; scaling methods; Control systems; Force control; Force feedback; Humans; Impedance; Manipulator dynamics; Master-slave; Microassembly; Microsurgery; Surgery;
Conference_Titel :
Industrial Electronics Society, 2000. IECON 2000. 26th Annual Confjerence of the IEEE
Conference_Location :
Nagoya
Print_ISBN :
0-7803-6456-2
DOI :
10.1109/IECON.2000.973218
